casadi 3.6.5__cp310-none-macosx_11_0_arm64.whl → 3.6.6__cp310-none-macosx_11_0_arm64.whl

casadi/cmake/alpaqa/alpaqaConfig.cmake

@@ -1,24 +0,0 @@
-
-####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() #######
-####### Any changes to this file will be overwritten by the next CMake run ####
-####### The input file was Config.cmake.in                            ########
-
-get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE)
-
-####################################################################################
-
-include(CMakeFindDependencyMacro)
-find_dependency(Eigen3 REQUIRED CONFIG)
-if (OFF)
-    find_package(casadi CONFIG)
-endif()
-
-set(ALPAQA_WITH_OCP ON CACHE INTERNAL "")
-
-include("${CMAKE_CURRENT_LIST_DIR}/alpaqaTargets.cmake")
-
-if(NOT _alpaqa_PRINTED)
-    get_target_property(ALPAQA_CONFIG alpaqa::alpaqa IMPORTED_CONFIGURATIONS)
-    message(STATUS "Found alpaqa 1.0.0: ${CMAKE_CURRENT_LIST_DIR} (available configs: ${ALPAQA_CONFIG})")
-    set(_alpaqa_PRINTED On CACHE INTERNAL "")
-endif()

casadi/cmake/alpaqa/alpaqaConfigVersion.cmake

@@ -1,70 +0,0 @@
-# This is a basic version file for the Config-mode of find_package().
-# It is used by write_basic_package_version_file() as input file for configure_file()
-# to create a version-file which can be installed along a config.cmake file.
-#
-# The created file sets PACKAGE_VERSION_EXACT if the current version string and
-# the requested version string are exactly the same and it sets
-# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version,
-# but only if the requested major version is the same as the current one.
-# The variable CVF_VERSION must be set before calling configure_file().
-
-
-set(PACKAGE_VERSION "1.0.0")
-
-if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-
-  if("1.0.0" MATCHES "^([0-9]+)\\.")
-    set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
-    if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
-      string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
-    endif()
-  else()
-    set(CVF_VERSION_MAJOR "1.0.0")
-  endif()
-
-  if(PACKAGE_FIND_VERSION_RANGE)
-    # both endpoints of the range must have the expected major version
-    math (EXPR CVF_VERSION_MAJOR_NEXT "${CVF_VERSION_MAJOR} + 1")
-    if (NOT PACKAGE_FIND_VERSION_MIN_MAJOR STREQUAL CVF_VERSION_MAJOR
-        OR ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND NOT PACKAGE_FIND_VERSION_MAX_MAJOR STREQUAL CVF_VERSION_MAJOR)
-          OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND NOT PACKAGE_FIND_VERSION_MAX VERSION_LESS_EQUAL CVF_VERSION_MAJOR_NEXT)))
-      set(PACKAGE_VERSION_COMPATIBLE FALSE)
-    elseif(PACKAGE_FIND_VERSION_MIN_MAJOR STREQUAL CVF_VERSION_MAJOR
-        AND ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_LESS_EQUAL PACKAGE_FIND_VERSION_MAX)
-        OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION_MAX)))
-      set(PACKAGE_VERSION_COMPATIBLE TRUE)
-    else()
-      set(PACKAGE_VERSION_COMPATIBLE FALSE)
-    endif()
-  else()
-    if(PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR)
-      set(PACKAGE_VERSION_COMPATIBLE TRUE)
-    else()
-      set(PACKAGE_VERSION_COMPATIBLE FALSE)
-    endif()
-
-    if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
-      set(PACKAGE_VERSION_EXACT TRUE)
-    endif()
-  endif()
-endif()
-
-
-# if the installed project requested no architecture check, don't perform the check
-if("FALSE")
-  return()
-endif()
-
-# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
-if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
-  return()
-endif()
-
-# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
-if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8")
-  math(EXPR installedBits "8 * 8")
-  set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
-  set(PACKAGE_VERSION_UNSUITABLE TRUE)
-endif()

casadi/cmake/alpaqa/alpaqaTargets-release.cmake

@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file for configuration "Release".
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "alpaqa::alpaqa" for configuration "Release"
-set_property(TARGET alpaqa::alpaqa APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
-set_target_properties(alpaqa::alpaqa PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libalpaqa.1.0.0.dylib"
-  IMPORTED_SONAME_RELEASE "@rpath/libalpaqa.1.0.0.dylib"
-  )
-
-list(APPEND _cmake_import_check_targets alpaqa::alpaqa )
-list(APPEND _cmake_import_check_files_for_alpaqa::alpaqa "${_IMPORT_PREFIX}/lib/libalpaqa.1.0.0.dylib" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)

casadi/cmake/alpaqa/alpaqaTargets.cmake

@@ -1,116 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
-   message(FATAL_ERROR "CMake >= 2.8.0 required")
-endif()
-if(CMAKE_VERSION VERSION_LESS "2.8.3")
-   message(FATAL_ERROR "CMake >= 2.8.3 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.23)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_cmake_targets_defined "")
-set(_cmake_targets_not_defined "")
-set(_cmake_expected_targets "")
-foreach(_cmake_expected_target IN ITEMS alpaqa::alpaqa alpaqa::warnings)
-  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
-  if(TARGET "${_cmake_expected_target}")
-    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
-  else()
-    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
-  endif()
-endforeach()
-unset(_cmake_expected_target)
-if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
-  unset(_cmake_targets_defined)
-  unset(_cmake_targets_not_defined)
-  unset(_cmake_expected_targets)
-  unset(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT _cmake_targets_defined STREQUAL "")
-  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
-  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
-endif()
-unset(_cmake_targets_defined)
-unset(_cmake_targets_not_defined)
-unset(_cmake_expected_targets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target alpaqa::alpaqa
-add_library(alpaqa::alpaqa SHARED IMPORTED)
-
-set_target_properties(alpaqa::alpaqa PROPERTIES
-  INTERFACE_COMPILE_DEFINITIONS "\$<\$<CONFIG:Debug>:EIGEN_INITIALIZE_MATRICES_BY_NAN>;\$<\$<CONFIG:Debug>:EIGEN_RUNTIME_NO_MALLOC>;\$<\$<BOOL:OFF>:ALPAQA_WITH_QUAD_PRECISION>;\$<\$<BOOL:ON>:ALPAQA_WITH_OCP>"
-  INTERFACE_COMPILE_FEATURES "cxx_std_20"
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "Eigen3::Eigen;\$<\$<BOOL:OFF>:quadmath>"
-)
-
-# Create imported target alpaqa::warnings
-add_library(alpaqa::warnings INTERFACE IMPORTED)
-
-set_target_properties(alpaqa::warnings PROPERTIES
-  INTERFACE_COMPILE_OPTIONS "\$<\$<COMPILE_LANGUAGE:C>:>;\$<\$<COMPILE_LANGUAGE:CXX>:>;\$<\$<COMPILE_LANGUAGE:Fortran>:>"
-)
-
-if(CMAKE_VERSION VERSION_LESS 3.0.0)
-  message(FATAL_ERROR "This file relies on consumers using CMake 3.0.0 or greater.")
-endif()
-
-# Load information for each installed configuration.
-file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/alpaqaTargets-*.cmake")
-foreach(_cmake_config_file IN LISTS _cmake_config_files)
-  include("${_cmake_config_file}")
-endforeach()
-unset(_cmake_config_file)
-unset(_cmake_config_files)
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(_cmake_target IN LISTS _cmake_import_check_targets)
-  foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
-    if(NOT EXISTS "${_cmake_file}")
-      message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
-   \"${_cmake_file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_cmake_file)
-  unset("_cmake_import_check_files_for_${_cmake_target}")
-endforeach()
-unset(_cmake_target)
-unset(_cmake_import_check_targets)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)

casadi/include/alpaqa/accelerators/anderson.hpp

@@ -1,133 +0,0 @@
-#pragma once
-
-#include <alpaqa/accelerators/internal/anderson-helpers.hpp>
-#include <alpaqa/config/config.hpp>
-#include <alpaqa/export.hpp>
-
-#include <limits>
-#include <stdexcept>
-
-namespace alpaqa {
-
-/// Parameters for the @ref AndersonAccel class.
-template <Config Conf = DefaultConfig>
-struct AndersonAccelParams {
-    USING_ALPAQA_CONFIG(Conf);
-    /// Length of the history to keep (the number of columns in the QR
-    /// factorization).
-    /// If this number is greater than the problem dimension, the memory is set
-    /// to the problem dimension (otherwise the system is underdetermined).
-    length_t memory = 10;
-    /// Minimum divisor when solving close to singular systems,
-    /// scaled by the maximum eigenvalue of R.
-    real_t min_div_fac = real_t(1e2) * std::numeric_limits<real_t>::epsilon();
-};
-
-/**
- * Anderson Acceleration.
- *
- * Algorithm for accelerating fixed-point iterations for finding fixed points
- * of a function @f$ g @f$, i.e. @f$ g(x^\star) = x^\star @f$, or equivalently,
- * roots of the residual @f$ r(x) \triangleq g(x) - x @f$.
- *
- * @todo   Condition estimation of the QR factorization.
- *
- * @ingroup grp_Accelerators
- */
-template <Config Conf = DefaultConfig>
-class AndersonAccel {
-  public:
-    USING_ALPAQA_CONFIG(Conf);
-    using Params = AndersonAccelParams<config_t>;
-
-    AndersonAccel() = default;
-    /// @param  params
-    ///         Parameters.
-    AndersonAccel(Params params) : params(params) {}
-    /// @param  params
-    ///         Parameters.
-    /// @param  n
-    ///         Problem dimension (size of the vectors).
-    AndersonAccel(Params params, length_t n) : params(params) { resize(n); }
-
-    /// Change the problem dimension. Flushes the history.
-    /// @param  n
-    ///         Problem dimension (size of the vectors).
-    void resize(length_t n) {
-        length_t m_AA = std::min(n, params.memory); // TODO: support m > n?
-        qr.resize(n, m_AA);
-        G.resize(n, m_AA);
-        rₗₐₛₜ.resize(n);
-        γ_LS.resize(m_AA);
-        initialized = false;
-    }
-
-    /// Call this function on the first iteration to initialize the accelerator.
-    void initialize(crvec g_0, crvec r_0) {
-        assert(g_0.size() == n());
-        assert(r_0.size() == n());
-        G.col(0) = g_0;
-        rₗₐₛₜ    = r_0;
-        qr.reset();
-        initialized = true;
-    }
-
-    /// Compute the accelerated iterate @f$ x^k_\text{AA} @f$, given the
-    /// function value at the current iterate @f$ g^k = g(x^k) @f$ and the
-    /// corresponding residual @f$ r^k = g^k - x^k @f$.
-    void compute(crvec gₖ, crvec rₖ, rvec xₖ_aa) {
-        if (!initialized)
-            throw std::logic_error("AndersonAccel::compute() called before "
-                                   "AndersonAccel::initialize()");
-        minimize_update_anderson(qr, G,                             // inout
-                                 rₖ, rₗₐₛₜ, gₖ, params.min_div_fac, // in
-                                 γ_LS, xₖ_aa);                      // out
-        rₗₐₛₜ = rₖ;
-    }
-    /// @copydoc compute(crvec, crvec, rvec)
-    void compute(crvec gₖ, vec &&rₖ, rvec xₖ_aa) {
-        if (!initialized)
-            throw std::logic_error("AndersonAccel::compute() called before "
-                                   "AndersonAccel::initialize()");
-        minimize_update_anderson(qr, G,                             // inout
-                                 rₖ, rₗₐₛₜ, gₖ, params.min_div_fac, // in
-                                 γ_LS, xₖ_aa);                      // out
-        rₗₐₛₜ = std::move(rₖ);
-    }
-
-    /// Reset the accelerator (but keep the last function value and residual, so
-    /// calling @ref initialize is not necessary).
-    void reset() {
-        index_t newest_g_idx = qr.ring_tail();
-        if (newest_g_idx != 0)
-            G.col(0) = G.col(newest_g_idx);
-        qr.reset();
-    }
-
-    /// Get the problem dimension.
-    length_t n() const { return qr.n(); }
-    /// Get the maximum number of stored columns.
-    length_t history() const { return qr.m(); }
-    /// Get the number of columns currently stored in the buffer.
-    length_t current_history() const { return qr.current_history(); }
-
-    /// Get the parameters.
-    const Params &get_params() const { return params; }
-
-    std::string get_name() const {
-        return "AndersonAccel<" + std::string(config_t::get_name()) + '>';
-    }
-
-    /// Scale the factorization
-    void scale_R(real_t scal) { qr.scale_R(scal); }
-
-  private:
-    Params params;
-    LimitedMemoryQR<config_t> qr;
-    mat G;
-    vec rₗₐₛₜ;
-    vec γ_LS;
-    bool initialized = false;
-};
-
-} // namespace alpaqa

casadi/include/alpaqa/accelerators/internal/anderson-helpers.hpp

@@ -1,92 +0,0 @@
-#pragma once
-
-#include <alpaqa/accelerators/internal/limited-memory-qr.hpp>
-#include <alpaqa/config/config.hpp>
-#include <alpaqa/export.hpp>
-
-namespace alpaqa {
-
-/**
- * @brief   Solve one step of Anderson acceleration to find a fixed point of a 
- *          function g(x):
- * 
- * @f$ g(x^\star) - x^\star = 0 @f$
- * 
- * Updates the QR factorization of @f$ \mathcal{R}_k = QR @f$, solves the least 
- * squares problem to find @f$ \gamma_\text{LS} @f$, computes the next 
- * iterate @f$ x_{k+1} @f$, and stores the current function value @f$ g_k @f$
- * in the matrix @f$ G @f$, which is used as a circular buffer.
- * @f[ \begin{aligned}
- * \def\gammaLS{\gamma_\text{LS}}
- * m_k &= \min \{k, m\} \\
- * g_i &= g(x_i) \\
- * r_i &= r(x_i) g_i - x_i \\
- * \Delta r_i &= r_i - r_{i-1} \\
- * \mathcal{R}_k &= \begin{pmatrix} \Delta r_{k-m_k+1} & \dots & \Delta r_k \end{pmatrix} \in \R^{n\times m_k}
- * \\
- * \gammaLS &= \argmin_{\gamma \in \R^{m_k}}\; \norm{\mathcal{R}_k \gamma - r_k}_2 \\
- * \alpha_i &= \begin{cases} \gammaLS[0] & i = 0 \\
- * \gammaLS[i] - \gammaLS[i-1] & 0 \lt i \lt m_k \\
- * 1 - \gammaLS[m_k - 1] & i = m_k \end{cases} \\
- * \tilde G_k &= \begin{pmatrix} g_{k - m_k} & \dots & g_{k-1} \end{pmatrix} \\
- * G_k &= \begin{pmatrix} g_{k - m_k} & \dots & g_{k} \end{pmatrix} \\
- * &= \begin{pmatrix} \tilde G_k & g_{k} \end{pmatrix} \\
- * x_{k+1} &= \sum_{i=0}^{m_k} \alpha_i\,g_{k - m_k + i} \\
- * &= G_k \alpha \\
- * \end{aligned} @f]
- */
-template <Config Conf = DefaultConfig>
-inline void minimize_update_anderson(
-    /// [inout] QR factorization of @f$ \mathcal{R}_k @f$
-    LimitedMemoryQR<Conf> &qr,
-    /// [inout] Matrix of previous function values @f$ \tilde G_k @f$
-    ///         (stored as ring buffer with the same indices as `qr`)
-    rmat<Conf> G̃,
-    /// [in]    Current residual @f$ r_k @f$
-    crvec<Conf> rₖ,
-    /// [in]    Previous residual @f$ r_{k-1} @f$
-    crvec<Conf> rₗₐₛₜ,
-    /// [in]    Current function value @f$ g_k @f$
-    crvec<Conf> gₖ,
-    /// [in]    Minimum divisor when solving close to singular systems,
-    ///         scaled by the maximum eigenvalue of R
-    real_t<Conf> min_div_fac,
-    /// [out]   Solution to the least squares system
-    rvec<Conf> γ_LS,
-    /// [out]   Next Anderson iterate
-    rvec<Conf> xₖ_aa) {
-
-    // Update QR factorization for Anderson acceleration
-    if (qr.num_columns() == qr.m()) // if the history buffer is full
-        qr.remove_column();
-    qr.add_column(rₖ - rₗₐₛₜ);
-
-    // Solve least squares problem Anderson acceleration
-    // γ = argmin ‖ ΔR γ - rₖ ‖²
-    qr.solve_col(rₖ, γ_LS, qr.get_max_eig() * min_div_fac);
-
-    // Iterate over columns of G, whose indices match the indices of the matrix
-    // R in the QR factorization, stored as a circular buffer.
-    auto g_it  = qr.ring_iter().begin();
-    auto g_end = qr.ring_iter().end();
-    assert(g_it != g_end);
-
-    // Compute Anderson acceleration next iterate yₑₓₜ = ∑ₙ₌₀ αₙ gₙ
-    // α₀ = γ₀             if n = 0
-    // αₙ = γₙ - γₙ₋₁      if 0 < n < mₖ
-    // αₘ = 1 - γₘ₋₁       if n = mₖ
-    auto α = γ_LS(0);
-    xₖ_aa  = α * G̃.col((*g_it).circular);
-    while (++g_it != g_end) {
-        auto [i, g_idx] = *g_it; // [zero based index, circular index]
-        α               = γ_LS(i) - γ_LS(i - 1);
-        xₖ_aa += α * G̃.col(g_idx);
-    }
-    α = 1 - γ_LS(qr.num_columns() - 1);
-    xₖ_aa += α * gₖ;
-
-    // Add the new column to G
-    G̃.col(qr.ring_tail()) = gₖ; // TODO: avoid copy, make G an array of vectors
-}
-
-} // namespace alpaqa